xb3.h

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#ifndef _XB3_H_
#define _XB3_H_

//####################################################################
// Includes:
//####################################################################

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <dynamic_reconfigure/SensorLevels.h>
#include <driver_base/driver.h>
#include <camera_info_manager/camera_info_manager.h>
#include <tf/transform_broadcaster.h>




#include <signal.h>
//=============================================================================
// PGR Includes
//=============================================================================
#include "pgr_registers.h"
#include "pgr_stereocam.h"

#include <xb3/xb3Config.h>
#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}



#ifdef _XB3_CPP_

struct tag_t_flags{
        char debug;
}t_flags;

struct tag_t_buffers{
        unsigned int nBufferSize;
        unsigned char* pucRightRGB;
        unsigned char* pucLeftRGB;
        unsigned char* pucCenterRGB;
        unsigned char* pucGreenBuffer;
        unsigned char* pucRGBBuffer;
        unsigned char* pucDeInterlacedBuffer;
}t_buffers;

struct tag_t_dc1394{
        PGRStereoCamera_t stereoCamera;
        unsigned int nThisCam;
        dc1394_t * d;
        dc1394camera_t*         camera;
}t_dc1394;

struct tag_t_imgs{
        cv::Mat left;
        cv::Mat center;
        cv::Mat right;
        cv::Mat left_640_480;
        cv::Mat right_640_480;
        cv::Mat center_640_480;
}t_imgs;

struct tag_t_msgs{
        sensor_msgs::Image short_left;                                                                                                                                                                   
        sensor_msgs::Image short_right;
        sensor_msgs::Image wide_left;
        sensor_msgs::Image wide_right;

        sensor_msgs::CameraInfo   short_left_info;
        sensor_msgs::CameraInfo   short_right_info;
        sensor_msgs::CameraInfo   wide_left_info;
        sensor_msgs::CameraInfo   wide_right_info;

        image_transport::CameraPublisher short_left_pub; 
        image_transport::CameraPublisher short_right_pub;
        image_transport::CameraPublisher wide_left_pub; 
        image_transport::CameraPublisher wide_right_pub;


        camera_info_manager::CameraInfoManager *short_left_info_manager;
        camera_info_manager::CameraInfoManager *short_right_info_manager;
        camera_info_manager::CameraInfoManager *wide_left_info_manager;
        camera_info_manager::CameraInfoManager *wide_right_info_manager;

        std::string short_left_info_url;
        std::string short_right_info_url;
        std::string wide_left_info_url;
        std::string wide_right_info_url;

}t_msgs;


#endif

#endif